In this paper the problem of adaptive state observer synthesis for linear time-varying SISO (single-input-single-output) dynamical system with partially unknown  parameters was considered. It is assumed that the input signal and output variable of the system are measurable.  It is also assumed  that the state matrix  of the plant contains known  variables and unknown  constants when the input matrix (vector) is unknown. Observer synthesis is based on GPEBO  (generalized parameter estimation based observer) method proposed in [1]. Observer synthesis provides preliminary parametrization  of the initial system and its conversion to a linear regression model with further unknown  parameters identification.  For identification  of the unknown  constant parameters classical estimation algorithm — least squares method with forgetting factor — was used. This approach works well in cases, when the known regressor is " frequency poor" (i.e. the regressor spectrum contains r/2 harmonics,  where r is a value of the unknown  parameters) or does not meet PE (persistent excitation)  condition.  To illustrate performance of the proposed method, an example is provided in this paper. A time-varying  second-order  plant with four unknown  parameters was considered. Parametrization of the initial dynamical  model was made. A linear static regression with six unknown  parameters (including unknown  state initial conditions vector) was obtained. An adaptive observer was synthesized and the simulation results were provided to illustrate the purpose reached. The main difference with the results, that were published earlier in [2], is the new assumption that not only does the state matrix of the linear time-varying system contain unknown  parameters, but input matrix (vector) contains unknown  constant coefficients.

The  paper considers the methods  of different  canonical  forms application  to the problems of fault  diagnosis and  estimation  in technical  systems described by linear dynamic  models under  disturbances.  Identification and  Jordan  canonical forms are investigated.  The  main  relations describing fault diagnosis and estimation  problems for different canonical  forms are given, and  comparative  analysis  of possibility of their application  is performed.  An analysis  shows that the identification canonical  form produces relations enable developing algorithms for the diagnostic observer and estimator design while Jordan canonical  form assumes using some heuristic methods.  It was shown that Jordan canonical  form is more preferable to guarantee  full disturbance  decoupling,  that is invariance  with respect to the disturbance.  On the other hand,  when full decoupling is impossible, the identification  canonical  form enables developing algorithm of partial decoupling while Jordan canonical  form assumes using some heuristic methods. The advantage  of Jordan canonical  form is that it ensures stability of the designed system based on properties of the matrix  describing this form while the identification  canonical  form assumes using feedback  based on the residual which must be generated. This allows for Jordan canonical  form to reduce the dimension of the designed diagnostic observer and estimator.  The  new method  to guarantee sensitivity of the diagnostic observer to the faults is developed.  The  method  is based on analysis  of the observability matrix  and new rules to calculate  matrices describing the diagnostic observer. Theoretical  results are illustrated by practical example  of well known  three tank  system.

The article is devoted to solving the problem of analysis and synthesis of a control system with a fuzzy controller (fuzzy  control system) in terms of the degree of stability. As interest in fuzzy control systems grows, various approaches to the study of such systems are being developed more and more actively.  One of the most actively developing areas is based on the modification  of methods for assessing the stability regions of nonlinear ACS, however, when solving most practical problems, this knowledge is not enough, since the developer needs to provide the required qualitative  characteristics of the transient process (and,  in particular, the control time).  Therefore, the synthesis of fuzzy  ACS  in terms of the degree of stability seems to be quite constructive, since it allows quite accurately  assessing the performance of a fuzzy ACS.  The proposed solution is based on the criterion of absolute stability for a system with an approximated  nonlinear  characteristic of a fuzzy controller, which can be obtained  directly on the basis of the Sugeno method. The article develops Yakubovich’s circular criterion of absolute stability, modified for a fuzzy control system, using a shifted  AFC of the linear part. With  this approach, it is possible to obtain  a completely  constructive  solution to the problem of synthesizing  the parameters  of a fuzzy  controller in the frequency  domain.  On the example  of fuzzy  control systems with static and  astatic linear parts, the features of the application  of the developed  approach are shown and  methods for synthesizing the parameters of a fuzzy controller are proposed. The analysis of the influence of individual  components of the nonlinear  transformation  on the quality  of the transient  process is carried out, and  on the basis of this a number  of practical recommendations are given for correcting the fuzzy controller settings that provide the required performance.

At present, researches of ergatic control systems for moving objects, in which an important role is assigned to the human  operator, are of particular relevance. The effectiveness of the functioning of such systems largely depends on the state of the human operator and, first of all, on his situational  awareness. Insufficient  or inadequate  awareness of the operator about the situation in such systems is one of the main  factors of accidents  associated with human  error. Therefore, the task of creating models of professional activity of a human  operator, including  models of his situational  awareness,  is urgent. It is shown that situational awareness is based on mental models of a human  operator. Their adequacy  depends on many subjective characteristics (factors) peculiar to a person, for example, his intelligence, mental state, accumulated  experience. Mathematical formalization  will reduce the subjective component in the formation of situational awareness. It is noted that important properties of situational awareness of the human  operator are associativity and ranking of information  depending on the context of the problem being solved. Therefore, situational awareness provides perception of the current situation and allows you to make  the right decisions in response to certain threats. The levels of implementation of situational  awareness in a human  operator are given. A feature of the first level is the need for joint processing of a large amount  of heterogeneous information  in order to identify  significant facts and critical information  about external  objects. The  task of the second level is to form a holistic picture of the situation, which is based on existing knowledge and previous experience. The third, highest level of understanding  of the situation is based on the ability of a person to predict the actions of moving objects and the consequences of these actions. It is proposed to form a model of situational awareness  based on Haken’s  synergetic approach.  Like  most other intelligent systems, the synergetic Haken’s  model  includes learning and recognition processes. A description of the process of recognizing a critical situation using a trained synergetic model is given. The  value of the attention  parameter, which characterizes  the importance of a specific characteristic of the state of the controlled object in the ergatic system, is noted. The associative properties of the synergetic model and its ability to rank the initial information  in the process of threat analysis during helicopter control are investigated.

The presented article describes the approach to solving the task of discrete production control based on the reference imitation model. A discrete production system, represented by typical technological equipment, was chosen as the object of research. The  simulation  model uses the mathematical apparatus of temporary Petri nets. A method  for automated  synthesis of ready-to-use production models has been formed and tested. The  method  is based on the idea of synthesizing a production process model  from models  of typical  technological  processes. In the practice of applying Petri nets, the complexity  of developing, subsequent  interpretation  of models, and,  consequently, making  changes are factors that  significantly  hinder  their practical use. A new way of influencing the criterion is proposed by setting different incidence  ratios in the Petri net. In the structure of the incidence matrix, the invariable and variable parts are distinguished.  A method for specifying the structure of the variable part through the vector of parameters is described, which made it possible to use a metaheuristic  algorithm for finding its best structure. The problem of optimal production planning defined for the approach described above is formulated.  The bioinspired algorithm of jumping frogs is adapted  to the search for the best network structure for a given optimality criterion. Changes in the specified algorithm made  it possible to reduce the number  of search steps, as well as work with discrete type parameters. In the  process of solving,  the  most  popular  optimality  criterion  was used.  The  obtained  theoretical  results are  within  the framework  of the optimization-simulation approach  and  are its logical development.  The  developed  approach to solving the problem of optimal production control develops the theory of Petri nets, makes  it more suitable for modeling complex systems with a branched  structure and a large number of interconnections.  On the basis of the developed theoretical provisions, a test example  is presented that characterizes  the effect of their application.  Recommendations for the practical use of the proposed approach in the sense of minimizing  the time for making  managerial  decisions with the required accuracy  are determined.

The  article  describes  the  methodological  and  technological  aspects of the  numerical  synthesis  of an  integrated  multifunctional  system  for assimilation  of navigation  information  delivered  by spatially  spaced  on-board sensors for satellite positioning of a moving  object (technological  platform  —  TP)  and  three-component apparent  acceleration  vector meters combined  with  them  —  3D-newtonometers.  This  is main  formed  image  of the  considered  real physical  system.  Modern methods and practices of systems for monitoring and controlling moving objects are essentially focused on deep mathematically formalized  representations of this subject area. In the light of such ideas, one should consider the content of the article on the problem of complementarity  of two types of information  that are different in physical nature and on the prospects for such a study. The  main model mathematically formalized  constructions follow the fundamental Kalman  paradigm "state — measurement"  and focused on the numerical  solution of ill-posed  inverse problems of determining  the motion of a TP  as a rigid body with the ability to work in real time. An ellipsoidal system was chosen as the base coordinate system, in addition other coordinate  systems were introduced  as well, which  inevitably  determine  the solution of problems due  to the formed set of corresponding transformations.  Algorithms are presented  for calculating  the kinematic  parameters  of the trajectory and spatial orientation  of the TP, the characteristics of the causality of motion — forces and moments,  and also numerical solutions for problems of mobile vector gravimetry and gravitational gradiometry are proposed. An algorithm for simulating onboard multipositioning  has been developed,  which determines  the conduct  of verifying computational  experiments.  Some of their results are given in the article. The  software package  that  implements  the simulation  algorithms and  solutions is developed  using Julia language and allows to obtain a complete set of data  on the state of all systems at any discrete time point of the simulator.

The  article solves the problem of operative selection of the redundant  onboard  equipment  complex  components  configuration of the suitable in the current operating conditionаs  in the interests of ensuring high fault tolerance of the complex, as well as achieving  other operational  and  technical  characteristics.  The  basis of the redundancy management  system of the complex consists of configuration supervisors — as program subjects according to the number of its competitive configurations of heterogeneous and nonuniform  equipment  worked out in advance.  The  choice of the preferred configuration is proposed to be carried out by performing multi-level arbitration,  which includes  two phases of paired arbitration  of computers and  paired arbitration of configuration. It is proposed to include the means of both types of arbitration in each configuration supervisor, which ensures its self-sufficiency when participating in a competitive selection. The  second part of the article is devoted to the computer’s arbitration for the implementation of redundancy  management  functions.  The  approach is applicable to a computing environment with many  comparable computing devices and contains 2 phases. In the first phase, a preliminary  selection of a competing pair of computers — as applicants for the implementation of redundancy management  functions in them is carried out. In the break between the phases, the pair computers implement  the procedures for pair arbitration of configurations given in the first part of the article. In the second phase, the final choice of the α-computer is made, in which the supervisor who won the arbitration will be implemented. In order to achieve  the maximum possible centralization  of selection procedures and, as a consequence, the exclusion  of "bottlenecks" in terms of reliability of places, additionally  proposed: the organization  of secure data  exchange between computers based on distributed registry technology; the procedure of paired arbitration of computers, consisting in mutual cross-validation of dominant  supervisors of a pre-allocated  pair by comparing preference matrices, including information  parcels of arbitration objects. A methodological example that demonstrates the features of the system functioning in the conditions of computers degradation is given. The proposed approach can be used to solve the problems of reconfiguration control of heterogeneous computing facilities of technical objects on-board equipment  complexes.